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  • 标题:Structure-preserving discrete-time optimal maneuvers of a wheeled inverted pendulum
  • 本地全文:下载
  • 作者:Karmvir Singh Phogat ; Ravi Banavar ; Debasish Chatterjee
  • 期刊名称:IFAC PapersOnLine
  • 印刷版ISSN:2405-8963
  • 出版年度:2018
  • 卷号:51
  • 期号:3
  • 页码:149-154
  • DOI:10.1016/j.ifacol.2018.06.042
  • 语种:English
  • 出版社:Elsevier
  • 摘要:AbstractThe Wheeled Inverted Pendulum (WIP) is a nonholonomic, underactuated mechanical system, and has been popularized commercially as the Segway. Designing optimal control laws for point-to-point state-transfer for this autonomous mechanical system, while respecting momentum and torque constraints as well as the underlying manifold, continues to pose challenging problems. In this article we present a successful effort in this direction: We employ geometric mechanics to obtain a discrete-time model of the system, followed by the synthesis of an energy-optimal control based on a discrete-time maximum principle applicable to mechanical systems whose configuration manifold is a Lie group. Moreover, we incorporate state and momentum constraints into the discrete-time control directly at the synthesis stage. The control is implemented on a WIP with parameters obtained from an existing prototype; the results are highly encouraging, as demonstrated by numerical experiments.
  • 关键词:KeywordsLie groupsnon-holonomic systemsdiscrete mechanics
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